Reddit mentions of The Hitchhiker's Guide to the Galaxy

Chilespicedmango gave an amazing comment! I have a couple recommendations for audiobooks that you can listen to or read along with. I struggled with reading comprehension as I got older and following along with audiobooks really helped me. Plus some have great voice actors. Make sure you get unabridged!

Anansi Boys, by Neil Gaiman, read by Lenny Henry
A great adventure story, incorporates mythology and cleverness and tricksters. Also the hero's quest of ordinary man-becomes great hero.

Hitchhiker's Guide to the Galaxy, by Douglas Adams, read by Stephen Fry
I memorized this as a child. I can probably recite it to you now. It's a hilarious story of an Englishman and his alien compatriot who escape the Earth right before it's destroyed and have adventures around the galaxy. Originally written as a radio serial, so it's episodic and might help with comprehension.

The Harry Potter Audiobooks
You may have heard of Harry Potter? Jim Dale does some fabulous voices - though his Hermione always bugged me.

Best of luck! We are here to support you. Sorry you couldn't relate to the Regency female protagonists - they always bored me too, I guess I missed the part of female development where you're supposed to be in love with Mr. Darcy? But you're free of school-assigned books now! Hopefully the fact a book has a female protagonist won't discourage you from reading it. r/books has a lot of suggestions for exciting books (including scifi/adventure) with kickass female leads.

He taught me about Vogons.

It is not quite the same as the original radio broadcast but our friend Stephen Fry reads the HHGTG audiobook during which he seems to replicate the radio voices.

Incidentally, this was available for free at the library.